WO2023218755A1

WO2023218755A1 - Driving assistance device

Info

Publication number: WO2023218755A1
Application number: PCT/JP2023/010136
Authority: WO
Inventors: 健人緒方
Original assignee: 日立Astemo株式会社
Priority date: 2022-05-11
Filing date: 2023-03-15
Publication date: 2023-11-16
Also published as: JP2023167136A

Abstract

Provided is a driving assistance device that is safe and convenient in a situation where reverse reproduction is not available, for such a case as passing an oncoming car in a narrow road. When a vehicle is moving forward, a driver's driving operations and information about a peripheral obstacle are stored. At that time, information from a front sensor 13 (or front camera 23) and that from a rear sensor 14 are integrated to discriminate the type of an object (still object, moving object) and store the same. After backing-up assistance starts, a peripheral obstacle from the rear sensor 14 and the stored peripheral obstacle are compared, and according to the comparison results, whether to implement backing-up assistance based on the stored driving operation is determined.

Description

Driving support device

The present invention relates to a driving support device that supports driving of a vehicle.

In order to prevent traffic accidents, various driving support functions are required from high speed to low speed ranges. One of the driving support systems in the low speed range is a reverse support system that stores the driving history on narrow roads and supports backward driving by replaying the stored driving route in the event of a dead end, passing each other, etc.

In Patent Document 1, the driving history and surrounding environment when moving forward are stored, the surrounding environment stored when reversing is compared with the current surrounding environment, and if there is no difference, assistance is provided by reverse playback, and if there is a difference, support is provided. discloses a method for alerting drivers.

Japanese Patent Application Publication No. 2007-237930

However, even if there is a difference between the surrounding environment remembered at the time of retreat and the current surrounding environment, appropriate support should be provided depending on the difference. To this end, it is necessary to carry out detailed comparisons when reversing.

In Patent Document 1, for example, if the stored obstacle is found to be missing as a result of comparison with the stored obstacle, the obstacle may be a moving object such as a stopped vehicle or a pedestrian that moves when reversing. It is not possible to determine whether the vehicle is lost or not detected due to a sensor failure when reversing, and it is not possible to perform reverse playback. In addition, if there is a following vehicle when moving forward, the following vehicle is memorized, so if, for example, the following vehicle disappears on the way, the comparison cannot be performed correctly when reversing, and reverse playback is performed. Can not.

The present invention has been made in view of the above circumstances, and aims to provide a safe and convenient driving support device in situations where reverse regeneration cannot be performed, such as when passing each other on a narrow road.

In order to solve the above problems, the driving support device according to the present invention includes a driving operation acquisition unit that acquires the driving operation of the driver of the own vehicle, and a first observation unit that observes the surrounding situation of the own vehicle. A second observation unit that acquires second observation information of a first observation information acquisition unit that acquires information and a second observation unit that observes a direction different from the first observation unit in the surrounding situation of the own vehicle. and an information acquisition unit, which uses first observation information of the first observation unit and second observation information of the second observation unit when the vehicle is traveling to determine at least stationary objects and other obstacles among the obstacles. an obstacle discriminating section; a storage section that stores at least a stationary object among the obstacles discriminated by the obstacle discriminating section and the driving operation acquired by the driving operation acquisition section; a surrounding situation collation unit that collates the obstacles obtained from the first observation unit or the second observation unit and the obstacles stored in the storage unit when the own vehicle travels the route traveled by the own vehicle; and a driving support control unit that supports driving based on the driving operation stored in the storage unit when the own vehicle is running, and the driving support control unit is configured to check the verification results obtained by the surrounding situation verification unit. The present invention is characterized in that it is determined whether or not to implement driving support depending on the situation.

Further, the driving support device according to the present invention includes a driving operation acquisition section that acquires the driving operation of the driver of the own vehicle, and a forward observation information acquisition section that acquires forward observation information of the forward observation section that observes the surrounding situation in front of the own vehicle. a rear observation information acquisition unit that acquires rear observation information of a rear observation unit that observes the surrounding situation behind the own vehicle, and forward observation information of the front observation unit and rear observation information of the rear observation unit when the own vehicle moves forward. an obstacle discrimination unit that discriminates between at least stationary objects and others among the obstacles using the above-described method; and at least a stationary object among the obstacles discriminated by the obstacle discrimination unit and the driving operation acquired by the driving operation acquisition unit. a surrounding situation matching unit that compares an obstacle behind the vehicle obtained from the rear observation unit with a stationary object stored by the storage unit when the vehicle is reversing along the forward route; a reverse regeneration backward support control unit that supports backward driving by reproducing the driving operation stored in the storage unit when the own vehicle is moving forward, when the own vehicle is reversing the forward route; The control unit is characterized in that it determines whether or not to perform reverse playback support in accordance with the verification result obtained by the surrounding situation verification unit.

According to the present invention, since moving objects such as stopped vehicles and pedestrians are stored separately, it is possible to recognize that a moving object such as a stopped vehicle or a pedestrian that was present when moving forward has moved and been lost when reversing. I can do it. Similarly, if an area stored as an immovable obstacle (stationary object) cannot currently be detected, it can be recognized that the vehicle cannot be detected due to a sensor malfunction or the like when reversing.

Furthermore, even if there is a following vehicle when moving forward, the following vehicle and surrounding obstacles are distinguished and memorized, so even if, for example, the following vehicle disappears midway, it can be compared when reversing. Can be carried out correctly.

Therefore, it is possible to provide a safe and convenient driving support device in situations where reverse regeneration cannot be performed, such as when passing each other on a narrow road.

Problems, configurations, and effects other than those described above will be made clear by the description of the embodiments below.

FIG. 1 is a system configuration diagram of a driving support device according to a first embodiment of the present invention. FIG. 2 is an overhead view showing an example of a sensor mounting configuration and a sensor detection range (an example in which sensors are mounted at four corners of a vehicle) according to a first embodiment of the present invention. FIG. 7 is an overhead view showing another example of the sensor mounting configuration and sensor detection range (an example in which the sensors are attached to left and right side mirrors) according to the first embodiment of the present invention. FIG. 3 is an overhead view showing another example of the sensor mounting configuration and sensor detection range (an example in which the sensor is attached to the front and rear bumpers of the vehicle) according to the first embodiment of the present invention. FIG. 4 is an overhead view showing another example of the sensor mounting configuration and sensor detection range (an example in which sensors are installed at the front and rear of the vehicle) according to the first embodiment of the present invention. 5 is a flowchart of the obstacle determination unit according to the first embodiment of the present invention. An example of obstacle discrimination processing by the obstacle discrimination unit according to the first embodiment of the present invention is shown, in which (a) is an example of a scene, and (b) is a position on the left side of FIG. 4(a) (time t - Δt). (c) is the front sensor obstacle map created at the left position (time t-Δt) of FIG. 4(a), and (d) is the detection status of

sensors

13 and 14 of FIG. 4(a). The rear sensor obstacle map created at the left position (time t-Δt), (e) shows the detection status of

sensors

13 and 14 at the right position (time t) in FIG. 4(a), (f) is the front sensor obstacle map created at the right position (time t) in FIG. 4(a), and (g) is the rear sensor obstacle map created at the right position (time t) in FIG. 4(a). Object map, (h) is an explanatory diagram showing a created type map. FIG. 3 is an explanatory diagram of an example of obstacle discrimination processing, surrounding situation comparison processing, and reverse playback support control (when a moving object such as a pedestrian is moving) according to a known technique (when there is no object type discrimination); FIG. 6 is an explanatory diagram of another example of obstacle discrimination processing, surrounding situation comparison processing, and reverse playback support control (when no object such as a telephone pole is detected) according to known technology (when there is no object type discrimination); FIG. 7 is an explanatory diagram of an example of obstacle discrimination processing, surrounding situation comparison processing, and reverse playback support control (when a moving object such as a pedestrian moves) according to the present embodiment (when object type discrimination is included); FIG. 7 is an explanatory diagram of another example of obstacle discrimination processing, surrounding situation comparison processing, and reverse playback support control (when no object such as a telephone pole is detected) according to the present embodiment (when object type discrimination is present); FIG. 7 is an explanatory diagram of yet another example of obstacle discrimination processing, surrounding situation comparison processing, and reverse reproduction backing support control (when a following vehicle disappears on the way) according to the known technology (when there is no object type discrimination); FIG. 7 is an explanatory diagram of still another example (when the following vehicle disappears on the way) of the obstacle discrimination process, the surrounding situation comparison process, and the reverse reproduction backing support control according to the present embodiment (when there is object type discrimination); FIG. 7 is an explanatory diagram of yet another example of obstacle discrimination processing, surrounding situation comparison processing, and reverse reproduction backing support control (when there is a following vehicle) according to the known technology (when there is no object type discrimination); FIG. 7 is an explanatory diagram of still another example (when a following vehicle exists) of obstacle discrimination processing, surrounding situation comparison processing, and reverse reproduction backing support control according to the present embodiment (when there is object type discrimination); 5 is a flowchart of a following vehicle detection unit according to the first embodiment of the present invention. 5 is a flowchart of a passing space determination unit according to the first embodiment of the present invention. FIG. 2 is a system configuration diagram of a driving support device according to a second embodiment of the present invention. FIG. 7 is a bird's-eye view showing an example of a sensor mounting configuration and a sensor detection range according to a second embodiment of the present invention (an example in which a front camera is installed at the front center, and rear sensors are installed at rear left and right sides); FIG. 7 is an overhead view showing another example of the sensor mounting configuration and sensor detection range according to the second embodiment of the present invention (an example in which the front camera is attached to the center of the front, and the rear sensors for the rear side are attached to the left and right side mirrors). FIG. 3 is an overhead view showing another example of the sensor mounting configuration and sensor detection range (an example in which the front camera is mounted at the center of the front and the rear sensor is mounted on the bumper at the rear of the vehicle) according to the first embodiment of the present invention. FIG. 7 is an overhead view showing another example of the sensor mounting configuration and sensor detection range (an example in which the front camera is mounted at the front center and the rear sensor is mounted at the rear of the vehicle) according to the first embodiment of the present invention. 7 is a flowchart of an obstacle determination unit according to a second embodiment of the present invention. An example of obstacle discrimination processing by the obstacle discrimination unit according to the second embodiment of the present invention is shown, in which (a) is an example of a scene, and (b) is a position on the left side of FIG. 16(a) (time t-Δt). (c) is the front sensor obstacle map created at the left position (time t-Δt) in FIG. 16(a), (d) is the detection status of the

sensors

23 and 14 in FIG. 16(a). The rear sensor obstacle map created at the left position (time t-Δt), (e) shows the detection status of

sensors

23 and 14 at the right position (time t) in FIG. 16(a), (f) is the front sensor obstacle map created at the right position (time t) in FIG. 16(a), and (g) is the rear sensor obstacle map created at the right position (time t) in FIG. 16(a). An explanatory diagram showing the object map, (h) the created type map (superimposition of FIG. 16(f) and FIG. 16(g)), and (i) the created type map (object type assigned). An example of obstacle discrimination processing, surrounding situation comparison processing, and reverse reproduction backing support control according to the present embodiment (a pedestrian exists on the left side of the own vehicle, a parallel stopped vehicle exists on the right side of the own vehicle, and the pedestrian disappears on the way). An explanatory diagram of the case). Other examples of obstacle discrimination processing, surrounding situation comparison processing, and reverse reproduction backward support control according to the present embodiment (a pedestrian exists on the left side of the own vehicle, a parallel stopped vehicle exists on the right side of the own vehicle, and the pedestrian and the parallel stopped vehicle An explanatory diagram of the case (when one vehicle disappears on the way and a passing space occurs between vehicles stopped in parallel). FIG. 7 is a system configuration diagram of a driving support device according to a third embodiment of the present invention. FIG. 4 is an explanatory diagram of the effects of the reverse support control of the present embodiment. 7 is a flowchart of a reroute generation driving support control unit according to a third embodiment of the present invention. FIG. 4 is a system configuration diagram of a driving support device according to a fourth embodiment of the present invention. Diagram of communication connections between own vehicle and other vehicles. 7 is a flowchart of a following vehicle following control unit according to a fourth embodiment of the present invention. FIG. 3 is an explanatory diagram of an example of object type discrimination means of the driving support device according to the present invention. FIG. 7 is an explanatory diagram of another example of the object type discrimination means of the driving support device according to the present invention. FIG. 2 is an explanatory diagram of an example of an application scene and an example of operation of the driving support device according to the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, parts having the same functions will be denoted by the same reference numerals, and repeated description thereof may be omitted.

[First embodiment]
First, a first embodiment of the driving support device of the present invention will be described with reference to FIGS. 1 to 12.

(System configuration of driving support device)
FIG. 1 is a system configuration diagram of a driving support device 100 according to a first embodiment of the present invention. The driving support device 100 is mounted on a vehicle (self-vehicle) 10, and is a device that supports a driver's driving operation by electronically controlling each functional unit included in the vehicle 10. The driving support device 100 of the present embodiment supports the backward movement of the vehicle 10 (that is, the driving operation when the vehicle 10 moves backward) based on the information stored when the vehicle 10 moves forward, for example, when passing each other on a narrow road. (reverse support control).

The driving support device 100 is a computer that controls the vehicle 10, and acquires driving operation acquisition section 101, vehicle behavior acquisition section 102, front sensor information acquisition section 103, and rear sensor information by executing a program stored in a storage medium. Acquisition unit 104, obstacle discrimination unit 105, storage unit 106, surrounding situation collation unit 110, reverse reproduction backing support control unit 111, following vehicle detection unit 112, following vehicle following control unit 113, passing space determination unit 114, rear side It functions as a movement support control section 115.

(Driving operation acquisition unit 101)
The driving operation acquisition unit 101 acquires the driving operation (information) of the driver of the vehicle 10 from various sensors mounted on the vehicle 10 . The driving operation acquisition unit 101 acquires the driver's driving operations (information) regarding acceleration/deceleration, steering, shift position, etc. of the vehicle 10, such as accelerator operation, brake operation, steering operation (steering angle), shift lever operation, etc. .

(Vehicle behavior acquisition unit 102)
The vehicle behavior acquisition unit 102 acquires the behavior (information) of the vehicle 10 from various sensors mounted on the vehicle 10. The vehicle behavior acquisition unit 102 acquires behaviors (information) such as wheel speed (vehicle speed), acceleration, and lateral speed (yaw angle) of the vehicle 10, for example.

(Front sensor information acquisition unit 103)
The driving support device 100 is connected to a front sensor 13 (FIGS. 2A to 2D) mounted on the vehicle 10. The front sensor 13 has a function as a front observation unit that observes the surrounding situation in front of the vehicle (self-vehicle) 10. The front sensor 13 is, for example, a camera that measures the distance to surrounding objects using images, a radar that measures the distance to surrounding objects using millimeter waves or laser light, or a radar that measures the distance to surrounding objects using ultrasonic waves. A sonar or the like can be used for measurement. The front sensor 13 outputs point cloud data representing the coordinates of the boundary portion of surrounding objects to the driving support device 100.

The front sensor information acquisition unit 103 acquires observation information in front of the vehicle 10 from the front sensor 13 (sensor information having point cloud data that detects peripheral objects (obstacles) in front of the vehicle 10).

(Backward sensor information acquisition unit 104)
The driving support device 100 is connected to a rear sensor 14 (FIGS. 2A to 2D) mounted on the vehicle 10. The rear sensor 14 has a function as a rear observation unit that observes the surrounding situation behind the vehicle (self-vehicle) 10. The rear sensor 14 includes, for example, a camera that measures the distance to surrounding objects using images, a radar that measures the distance to surrounding objects using millimeter waves or laser light, and a radar that measures the distance to surrounding objects using ultrasonic waves. A sonar or the like can be used for measurement. The rear sensor 14 outputs point cloud data representing the coordinates of the boundary portions of surrounding objects to the driving support device 100.

The rear sensor information acquisition unit 104 acquires observation information behind the vehicle 10 (sensor information having point cloud data that detects surrounding objects (obstacles) behind the vehicle 10) from the rear sensor 14.

(Configuration of sensors 13 and 14)
2A, B, C, and D show examples of mounting the

sensors

13 and 14 according to the first embodiment of the present invention. As described above, in this embodiment, the front sensor 13 and the rear sensor 14 are attached to the vehicle 10 so as to observe different directions in the surrounding situation of the vehicle 10. Further, the front sensor 13 and the rear sensor 14 are configured using sensors having the same characteristics, such as a camera, radar, and sonar.

As an example, as shown in FIG. 2A, the front sensor 13 and the rear sensor 14 (for example, radar) are attached to the four corners of the vehicle 10 at the front, rear, left, and right. That is, (a pair of)

front sensors

13, 13 are attached to the front left and right sides of the vehicle 10 so as to face the front sides (front left side, front right side) of the vehicle 10, (a pair of)

rear sensors

14, 14 are attached to the rear left and right sides of the vehicle 10 so as to face the rear side (rear left side, rear right side) of the vehicle 10. Further, as shown in FIG. 2B, the front sensor 13 and the rear sensor 14 (for example, a camera) are attached to the left and right side mirrors of the vehicle 10. That is, the (pair of)

front sensors

13, 13 are attached to the left and right side mirrors of the vehicle 10 so as to face the front sides (front left side, front right side) of the vehicle 10, and the (pair of)

rear sensors

14 , 14 are attached to the left and right side mirrors of the vehicle 10 so as to face the rear side (rear left side, rear right side) of the vehicle 10. Further, as shown in FIG. 2C, the front sensor 13 and the rear sensor 14 (for example, sonar) are attached to the front and rear bumpers of the vehicle 10. That is, the plurality of front sensors 13 are attached to the front bumper of the vehicle 10 so as to face the front of the vehicle 10 as a whole, and the plurality of rear sensors 14 are attached to the rear bumper of the vehicle 10 so as to face the vehicle 10 as a whole. It is attached so that it faces towards the rear. Further, as shown in FIG. 2D, the front sensor 13 and the rear sensor 14 (for example, a wide-angle camera) are attached to the front and back center of the vehicle 10. That is, the front sensor 13 is attached to the center of the front of the vehicle 10 so as to face the front of the vehicle 10, and the rear sensor 14 is attached to the center of the rear of the vehicle 10 so as to face the rear of the vehicle 10. Note that the number, arrangement, etc. of the front sensor 13 and the rear sensor 14 are not limited to the examples shown in FIGS. 2A to 2D.

(Obstacle discrimination unit 105)
The obstacle determination unit 105 uses (integrates) the sensor information acquired from the front sensor information acquisition unit 103 and the rear sensor information acquisition unit 104 to determine the object type of obstacles around the vehicle 10 (in front and behind). Discern. The obstacle discrimination unit 105 discriminates at least stationary objects and other objects (moving objects, etc.) as object types.

FIG. 3 shows a flowchart of the obstacle determination unit 105 according to the first embodiment of the present invention. The flow shown in FIG. 3 is repeatedly executed (regularly) at a predetermined processing cycle. Further, FIG. 4 shows an example of obstacle discrimination processing by the obstacle discrimination unit 105 according to the first embodiment of the present invention.

FIG. 4(a) shows a scene where the vehicle 10 is traveling from left to right on a narrow road. FIG. 4(b) shows the detection status of the

sensors

13 and 14 at the left position (time t-Δt) of FIG. 4(a), and FIG. 4(c) and FIG. A front sensor obstacle map and a rear sensor obstacle map created at the left position (time t-Δt) are shown. FIG. 4(e) shows the detection status of the

sensors

13 and 14 at the right position (time t) in FIG. 4(a), and FIG. 4(f) and FIG. 4(g) show the detection status on the right side of FIG. 4(a). A front sensor obstacle map and a rear sensor obstacle map created at the position (time t) are shown. FIG. 4(h) shows a type map created by comparing (superimposing) the front sensor obstacle map of FIG. 4(f) and the rear sensor obstacle map of FIG. 4(g). In the type map of FIG. 4(h), a group of points (black dots) detected by both

sensors

13 and 14 at the same position is determined as a stationary object.

The obstacle discrimination unit 105 stores sensor information (point cloud information detecting obstacles in front and behind the vehicle 10) acquired from the front sensor information acquisition unit 103 and the rear sensor information acquisition unit 104 in a map stored in a memory in advance. By arranging the front sensor obstacle map and the rear sensor obstacle map, a front sensor obstacle map and a rear sensor obstacle map are created (updated) and stored in the memory (FIGS. 4(b), (c), and (d)).

As shown in FIG. 3, in S301, the obstacle determination unit 105 stores the previous (time t-Δt, Δt: processing cycle) front sensor obstacle map and rear sensor obstacle map stored in the memory as described above. (Fig. 4(c), (d)).

In S302, vehicle behavior information is acquired from the vehicle behavior acquisition unit 102.

In S303, the own vehicle position in the front sensor obstacle map and the rear sensor obstacle map is updated using the front sensor obstacle map and rear sensor obstacle map obtained in S301 and the vehicle behavior information obtained in S302. (Fig. 4(f), (g)).

In S304, the obstacle point group Pf[p of the front sensor 13, which is the sensor information (point group information that detected the obstacle in front of the vehicle 10) (currently (time t)) acquired from the front sensor information acquisition unit 103, is ] is superimposed on the front sensor obstacle map (of the previous time (time t-Δt)) acquired in S301 (FIG. 4(f)).

In S305, the obstacle point group Pr[q of the rear sensor 14 is acquired from the rear sensor information acquisition unit 104 (currently (time t)) and is the sensor information (point cloud information that detected obstacles behind the vehicle 10). ] is superimposed on the rear sensor obstacle map (of the previous time (time t-Δt)) acquired in S301 (FIG. 4(g)).

In S306, the common area (point cloud) of the front sensor obstacle map created in S304 (currently (time t)) and the rear sensor obstacle map created in S305 (currently (time t)) is determined, and the common area is calculated. The region (point group) is extracted as a stationary object (Fig. 4(h)).

That is, the obstacle discrimination unit 105 discriminates the same obstacle (point cloud) detected by both the front sensor 13 (front sensor obstacle map) and the rear sensor 14 (rear sensor obstacle map) as a stationary object. do.

Thereby, the obstacle discrimination unit 105 discriminates at least stationary objects and other obstacles (moving objects, etc.) among the obstacles around the own vehicle 10.

(Storage unit 106)
The storage unit 106 stores the obstacles (information) acquired from the obstacle determination unit 105 (including the object type (information) of the obstacle determined by the obstacle determination unit 105) and the driving operation acquired from the driving operation acquisition unit 101. (information) is stored in the memory 107 as an obstacle (information) 108 and a driving operation (information) 109. The storage unit 106 stores at least stationary objects among the obstacles determined by the obstacle determination unit 105 in the memory 107 as obstacles (information) 108 .

(Surrounding situation collation unit 110)
The surrounding situation verification unit 110 is executed when the vehicle 10 is reversing the route along which it has advanced. More specifically, it is performed when there is a request for implementation of reverse support control from the driver of the vehicle 10 moving forward. A request from the driver to implement the reverse support control can be recognized, for example, through an operation of a switch input or a touch panel input provided on the vehicle 10, voice recognition, an operation of switching the shift lever to reverse, or the like.

The surrounding situation collation unit 110 uses sensor information acquired from the rear sensor information acquisition unit 104 (in other words, obstacle information behind the own vehicle acquired from the rear sensor 14) and obstacles stored in the memory 107 by the storage unit 106. (Information) Verify 108 stationary objects.

Then, the surrounding situation matching unit 110 determines that the obstacle (information) 108 stored in the memory 107 by the storage unit 106 does not exist in the stationary object, and the current sensor information acquired from the rear sensor information acquisition unit 104 (in other words, An object existing in the current obstacle information behind the vehicle obtained by the sensor 14 is determined to be a moving object.

The surrounding situation matching unit 110 also detects the current sensor information (in other words, the rear sensor Objects that do not exist in the current obstacle information behind the vehicle obtained from 14 are determined to be objects that are highly likely to have malfunctions in the

sensors

13 and 14.

(Reverse playback support control unit 111)
The reverse regeneration backward support control unit 111 is executed when the vehicle 10 moves backward along the forward route. The reverse regeneration backing support control unit 111 acquires the driving operation (information) 109 stored in the memory 107 by the storage unit 106 when the vehicle 10 is moving forward, and supports backward driving (implements backing support) by reproducing the driving operation (information) 109 in the reverse direction. That is, the reverse reproduction backward support control unit 111 controls the steering device, the drive device, the braking device, and the transmission device so that the driving operation (information) 109 stored in the memory 107 by the storage unit 106 is reversely reproduced when the vehicle 10 moves forward. It supports backward driving by controlling the following.

At this time, the reverse playback support control unit 111 determines whether to implement reverse playback support according to the verification result obtained by the surrounding situation verification unit 110.

The reverse playback support control unit 111 does not perform reverse playback support if a moving object is included during the verification performed by the surrounding situation matching unit 110.

In addition, the reverse regeneration backing support control unit 111 does not perform reverse regeneration backing support and alerts the driver if an object that is likely to cause a malfunction of the

sensors

13 and 14 is included when the surrounding situation matching unit 110 verifies the situation. do. Note that the driver's attention can be alerted, for example, via a display provided in the driver's seat, a meter panel, a display device such as a warning light, or a notification device such as a sound generating device such as a speaker or a buzzer.

In cases other than the above, the reverse regeneration backward support control unit 111 supports backward driving by reversely reproducing the driving operation (information) 109 stored in the memory 107 by the storage unit 106 when the vehicle 10 is moving forward.

FIG. 5A is an example of processing using a known technique (when there is no object type discrimination) (when a moving object such as a pedestrian is moving), and FIG. 5B is another example of processing using a known technique (when there is no object type discrimination). (When objects such as utility poles are not detected). Both of FIGS. 5A and 5B show similar conditions (obstacles that are not currently detected by the rear sensor 14 (moving objects such as pedestrians in FIG. 5A, undetected objects in FIG. 5B) are displayed on the type map stored. It is impossible to distinguish whether the map is incorrect (it memorized a moving object that happened to be present) or whether the current rear sensor 14 is incorrect (not detected).

FIG. 6A is an example of the processing according to this embodiment (when object type discrimination is included) (when a moving object such as a pedestrian is moving), and FIG. 6B is an example of the processing according to this embodiment (when object type discrimination is included). Another example (case where an object such as a utility pole is not detected) is shown. Since the moving object is not registered in the type map (FIG. 6A), and if the obstacle is not observed by the current rear sensor 14 and exists on the stored map, it can be determined that the rear sensor 14 has not detected it. Therefore, it is possible to distinguish whether the map is incorrect (it memorized a moving object that happened to be present) or whether the current rear sensor 14 is incorrect (not detected).

Therefore, based on the determination result, it is possible to appropriately perform the reverse support control of the reverse reproduction reverse support control unit 111 (implement reverse based on the memory).

FIG. 7 shows another example of the process (when the following vehicle disappears midway) using the known technology (when there is no object type discrimination), and FIG. 8 shows the process according to the present embodiment (when there is object type discrimination) This shows a further example (when the following vehicle disappears on the way).

If the following vehicle 11 disappears on the way, in the known technology, the position of the following vehicle is recorded sequentially and becomes noise, so verification fails and reverse support control cannot be performed, resulting in manual operation by the driver. (Figure 7). In this embodiment, since the information of the following vehicle can be stored except for the information, it is possible to check the information, and reverse support control can be performed by reproducing the information in reverse (FIG. 8).

FIG. 9 shows a further example of the process according to the known technology (when there is no object type discrimination) (when there is a following vehicle), and FIG. 10 shows a further example of the process according to the present embodiment (when there is object type discrimination). Another example (when there is a following vehicle) is shown.

If there is a following vehicle 11, in the known technology, the position of the following vehicle is recorded sequentially and becomes noise, so there is a possibility of matching at the wrong position (FIG. 9). In this embodiment, since the information on the following vehicle is excluded from the memory, it is possible to collate the information, and as a result of the collation, it is possible to accurately extract the following vehicle (FIG. 10).

(Following vehicle detection unit 112)
The following vehicle detection section 112 determines (detects) the presence of a following vehicle from the information from the surrounding situation verification section 110.

FIG. 11 shows a flowchart of the following vehicle detection unit 112 according to the first embodiment of the present invention. The flow shown in FIG. 11 is repeatedly executed (regularly) at a predetermined processing cycle.

As shown in FIG. 11, the following vehicle detection unit 112 acquires the matching result from the surrounding situation matching unit 110 in S1101.

In S1102, the difference in matching is extracted from the matching results obtained in S1101. Specifically, point groups (obstacles) that exist only in the current sensor information acquired from the rear sensor information acquisition unit 104 are extracted (see also the comparison results in FIG. 10).

In S1103, the point clouds (obstacles) extracted in S1102 are grouped based on the proximity of their positions. For example, points that are closer in distance than a predetermined position criterion can be grouped by regarding them as the same object.

In S1104, for the groups created in S1103, it is determined whether there is a group with a predetermined width (width 1.5 m) or more behind the host vehicle. If there is a group, the process advances to S1105; if there is no group, S1105 is skipped and the process ends.

In S1105, it is determined that there is a following vehicle behind the host vehicle.

That is, in the verification performed by the surrounding situation verification unit 110 , the following vehicle detection unit 112 determines that the obstacle (information) 108 stored in the memory 107 by the storage unit 106 does not exist among the stationary objects and is acquired from the rear sensor information acquisition unit 104 . Among the objects that exist in the current sensor information (in other words, the current obstacle information behind the vehicle obtained from the rear sensor 14), the following vehicle Determine as.

(Following vehicle following control unit 113)
The following vehicle following control unit 113 follows the following vehicle by controlling the steering device, drive device, braking device, transmission device, etc. when the following vehicle is detected behind the own vehicle by the following vehicle detection unit 112. Performs following vehicle following control. Note that the following vehicle following control can be performed using a known following control method that is installed in, for example, an adaptive cruise control that follows a preceding vehicle.

That is, in the verification performed by the surrounding situation verification unit 110, the obstacle (information) 108 stored in the memory 107 by the storage unit 106 does not exist in the stationary object, and the current sensor information acquired from the rear sensor information acquisition unit 104 (in other words, , the current obstacle information behind the vehicle obtained from the rear sensor 14), the surrounding situation verification unit 110 determines that the object is a moving object, and the reverse reproduction backward support control unit 111 , the reverse playback support is stopped based on the judgment of the surrounding situation comparison unit 110. Further, the following vehicle detection unit 112 determines whether there is a following vehicle behind the own vehicle from the object, and if it is determined that there is a following vehicle behind the own vehicle, the following vehicle following control unit 113 controls the following vehicle detection unit Following vehicle following control is performed based on the determination in step 112.

(Passing space determination unit 114)
The passing space determination unit 114 detects (determines) a passing space on the rear side of the vehicle 10 in which the vehicle 10 can pass each other as a result of the verification by the surrounding situation verification unit 110 .

FIG. 12 shows a flowchart of the passing space determination unit 114 according to the first embodiment of the present invention. The flow shown in FIG. 12 is repeatedly executed (regularly) at a predetermined processing cycle.

As shown in FIG. 12, the passing space determination unit 114 acquires the verification result from the surrounding situation verification unit 110 in S1201.

In S1202, the difference in matching is extracted from the matching results obtained in S1201. Specifically, the point group (obstacle) that exists only in the stored information (that is, the stationary object of the obstacle (information) 108) stored in the memory 107 by the storage unit 106 is extracted. Note that stored information outside the detection range of the current sensor used for verification is excluded.

In S1203, the point clouds (obstacles) extracted in S1202 are grouped based on the proximity of their positions. For example, points that are closer in distance than a predetermined position criterion can be grouped by regarding them as the same object.

In S1204, for the groups created in S1203, it is determined whether there is a group with a predetermined depth (4 m depth) or more behind the own vehicle. If there is a group, the process advances to S1205; if there is no group, S1205 is skipped and the process ends.

In S1205, it is determined that there is a passing space behind the vehicle.

In other words, the passing space determination unit 114 determines that the obstacle (information) 108 stored in the memory 107 by the storage unit 106 is present in a stationary object and that the current status acquired from the rear sensor information acquisition unit 104 is detected in the verification by the surrounding situation verification unit 110. Among objects that do not exist in the sensor information (in other words, the current obstacle information behind the vehicle obtained from the rear sensor 14), the vehicle passes each other in a space where an object with a predetermined depth (depth of 4 m) or more exists behind the vehicle. Determine as space.

(Backward lateral movement support control unit 115)
The rear lateral movement support control unit 115 controls a steering device, a drive device, a braking device, a transmission device, etc. when a passing space is detected (determined) on the rear side of the own vehicle by the passing space determining unit 114. By doing so, the rear side movement support control is carried out to move to the passing space behind the own vehicle and assist in passing each other. Note that the rearward and lateral movement support control can be performed using, for example, a known route generation/movement support control method that is installed in a system that automatically performs parallel parking.

That is, in the verification performed by the surrounding situation verification unit 110, the current sensor information (in other words, If there is an object that does not exist in the current obstacle information behind the vehicle obtained from the rear sensor 14, the surrounding situation verification unit 110 determines that there is a high possibility that the

sensors

13 and 14 are malfunctioning, and performs reverse playback. The support control unit 111 stops the reverse playback support based on the judgment of the surrounding situation collation unit 110. In addition, the passing space determination unit 114 determines whether there is a passing space behind the vehicle from the object, and if it is determined that there is a passing space behind the vehicle, the rear lateral movement support control unit 115 Backward and lateral movement support control is performed based on the determination by the passing space determination unit 114.

(effect)
According to this embodiment, since moving objects such as stopped vehicles and pedestrians are stored separately, it is recognized that moving objects such as stopped vehicles and pedestrians that were present when moving forward are moved and lost when reversing. be able to. Similarly, if an area stored as an immovable obstacle (stationary object) cannot currently be detected, it can be recognized that the vehicle cannot be detected due to a sensor malfunction or the like when reversing.

Therefore, it is possible to provide a safe and convenient driving support device 100 in situations where reverse regeneration cannot be performed, such as when passing each other on a narrow road.

[Second embodiment]
Next, a second embodiment of the driving support device of the present invention will be described with reference to FIGS. 13 to 18. The second embodiment differs from the first embodiment in the object type discrimination method. In the first embodiment, the observation information of the front sensor 13 and the rear sensor 14 (sensor information consisting of point cloud data) is integrated to determine and store the object type, but in the second embodiment, the object type is determined based on the image. The object type is determined and stored from the observation information of the sensor that can be determined.

(System configuration of driving support device)
FIG. 13 is a system configuration diagram of a driving support device 200 according to a second embodiment of the present invention.

The driving support device 200 is a computer that controls the vehicle 10, and by executing a program stored in a storage medium, the driving assistance device 200 acquires a driving operation acquisition unit 101, a vehicle behavior acquisition unit 102, a front camera recognition information acquisition unit 203, and a rear sensor. Information acquisition section 104, obstacle discrimination section 205, storage section 106, surrounding situation collation section 110, reverse playback support control section 111, following vehicle detection section 112, following vehicle following control section 113, passing space determination section 114, rear side It functions as a direction movement support control section 115.

That is, the driving support device 200 of the second embodiment includes the front camera recognition information acquisition unit 203 and the obstacle discrimination unit instead of the front sensor information acquisition unit 103 and the obstacle discrimination unit 105 of the drive support device 100 of the first embodiment. 205.

(Front camera recognition information acquisition unit 203)
The driving support device 200 is connected to a front camera 23 (FIGS. 14A to 14D) mounted on the vehicle 10. The front camera 23 has a function as a front observation unit that observes the surrounding situation in front of the vehicle (self-vehicle) 10. The front camera 23 includes a sensor that can identify the type of object based on the image. The front camera 23 outputs image data including information that determines (recognizes) the object types of peripheral objects (obstacles) shown in the image to the driving support device 100.

Types of objects that can be determined by the front camera 23 include pedestrians, bicycles, two-wheeled vehicles (motorcycles), vehicles (including parked vehicles), and the possibility of movement such as fences, signboards, poles, and pylons installed for construction purposes. There are moving objects and stationary objects such as signs, guardrails, walls, fences, signboards, poles, pylons, curbs, and car stops.

The front camera recognition information acquisition unit 203 acquires observation information in front of the vehicle 10 (sensor information having image data that detects an obstacle in front of the vehicle 10) from the front camera 23.

(Configuration of sensors 23 and 14)
14A, B, C, and D show examples of mounting

sensors

23 and 14 according to the second embodiment of the present invention. As described above, in this embodiment, the front camera 23 and the rear sensor 14 are attached to the vehicle 10 so as to observe different directions in the surrounding situation of the vehicle 10. Further, the front camera 23 and the rear sensor 14 are configured using sensors with different characteristics.

As an example, as shown in FIGS. 14A to 14D, the front camera 23 is attached to the center of the front of the vehicle 10 (for example, the center of the inside of the windshield inside the vehicle) so as to face the front of the vehicle 10. . The mounting manner of the rear sensor 14 (FIGS. 14A to 14D) is basically the same as in the first embodiment. Note that the number, arrangement, etc. of the front camera 23 and the rear sensor 14 are not limited to the examples shown in FIGS. 14A to 14D.

(Obstacle discrimination unit 205)
The obstacle determination unit 205 uses the sensor information acquired from the front camera recognition information acquisition unit 203 and the rear sensor information acquisition unit 104 to determine the object type of obstacles around the vehicle 10 (front and rear). The obstacle discrimination unit 205 discriminates at least stationary objects and other objects (moving objects, etc.) as object types.

In the present embodiment, the obstacle discrimination unit 205 receives information from the rear sensor information acquisition unit 104 based on object type information (object type information determined by the front camera 23) of the sensor information acquired from the front camera recognition information acquisition unit 203. At least a stationary object is determined from the acquired sensor information (in other words, the detection result of the rear sensor 14).

FIG. 15 shows a flowchart of the obstacle determination unit 205 according to the second embodiment of the present invention. The flow shown in FIG. 15 is repeatedly executed (regularly) at a predetermined processing cycle. Further, FIG. 16 shows an example of obstacle discrimination processing by the obstacle discrimination unit 205 according to the second embodiment of the present invention.

FIG. 16(a) shows a scene in which a vehicle 10 is traveling from left to right on a narrow road, a pedestrian is present on the left side of the vehicle 10, and a plurality of vehicles stopped in parallel are present on the right side of the vehicle 10. FIG. 16(b) shows the detection status of the

sensors

23 and 14 at the left position (time t-Δt) of FIG. 16(a), and FIG. 16(c) and FIG. A front sensor obstacle map and a rear sensor obstacle map created at the left position (time t-Δt) are shown. FIG. 16(e) shows the detection status of the

sensors

23 and 14 at the right position (time t) in FIG. 16(a), and FIG. 16(f) and FIG. 16(g) show the detection status on the right side of FIG. 16(a). A front sensor obstacle map and a rear sensor obstacle map created at the position (time t) are shown. 16(h) and 16(i) show type maps created by comparing (superimposing) the front sensor obstacle map in FIG. 16(f) and the rear sensor obstacle map in FIG. 16(g). ing. In the type map of FIG. 16(i), hatched points indicate a point group that is determined as a moving object that may move, and black points indicate a point group that is determined as a stationary object.

The obstacle determination unit 205 stores sensor information (image information and point cloud information that detects obstacles in front and behind the vehicle 10) acquired from the front camera recognition information acquisition unit 203 and the rear sensor information acquisition unit 104 in advance in memory. A front sensor obstacle map and a rear sensor obstacle map are created (updated) and stored in the memory (FIGS. 16(b), (c), and (d)).

As shown in FIG. 15, in S1501, the obstacle determination unit 205 stores the previous (time t-Δt, Δt: processing cycle) front sensor obstacle map and rear sensor obstacle map stored in the memory as described above. (FIGS. 16(c) and (d)).

In S1502, vehicle behavior information is acquired from the vehicle behavior acquisition unit 102.

In S1503, the own vehicle position in the front sensor obstacle map and the rear sensor obstacle map is updated using the front sensor obstacle map and rear sensor obstacle map acquired in S1501 and the vehicle behavior information acquired in S1502. (Fig. 16(f), (g)).

In S1504, the sensor information (currently (time t)) acquired from the front camera recognition information acquisition unit 203 (information on the type of object around the object recognition position Pf[p] of the front camera 23) acquired in S1501 ( It is registered in the previous sensor obstacle map (of the previous time (time t-Δt)) (FIG. 16(f)). In other words, the object type information is registered at a position corresponding to the vicinity of the object recognition position Pf[p] of the front camera 23 in the front sensor obstacle map (of the previous time (time t-Δt)) acquired in S1501.

In S1505, the obstacle point group Pr[q of the rear sensor 14 is acquired from the rear sensor information acquisition unit 104 (at this time (time t)), which is the sensor information (point cloud information that detected obstacles behind the vehicle 10). ] is superimposed on the rear sensor obstacle map (of the previous time (time t-Δt)) acquired in S1501 (FIG. 16(g)).

In S1506, the front sensor obstacle map (currently (time t)) created in S1504 and the rear sensor obstacle map (currently (time t)) created in S1505 are superimposed (FIG. 16(h)). Attributes of stationary objects and moving objects are assigned (FIG. 16(i)).

That is, the obstacle discrimination unit 205 discriminates at least a stationary object from the detection results (point cloud) of the rear sensor 14 based on the object type information discriminated by the front camera 23.

Thereby, the obstacle discrimination unit 205 discriminates at least stationary objects and other obstacles (moving objects, etc.) among the obstacles around the own vehicle 10.

FIG. 17 is an example of the process according to the present embodiment, in which there is a pedestrian on the left side of the host vehicle, a parallel stopped vehicle exists on the right side of the host vehicle, and the pedestrian disappears midway (during reverse support control). It shows the case.

Since the pedestrian who disappeared on the way is registered with the attribute of a moving object in the type map, it can be determined that there is a possibility that the pedestrian will move during the backward support control.

FIG. 18 shows another example of the process according to the present embodiment, in which there is a pedestrian on the left side of the own vehicle, a parallel stopped vehicle exists on the right side of the own vehicle, and the pedestrian and the parallel stopped vehicle (one vehicle) are on the way. This shows a case where a passing space occurs between vehicles stopped in parallel (during reverse support control).

Pedestrians and vehicles stopped in parallel are registered in the type map with the attribute of a moving object, so it can be determined that there is a possibility that they will move during reverse support control.

Therefore, based on the determination result, the reverse support control of the reverse reproduction backward support control section 111 or the movement support control of the rear and lateral movement support control section 115 can be appropriately performed.

In the examples shown in FIGS. 16 to 18, the obstacle discrimination unit 205 discriminates (detects) pedestrians and stopped vehicles on the left and right sides of the own vehicle 10 and stores them in the memory 107. By determining (detecting) the construction area or construction site from surrounding construction fences, signboards, poles, pylons, etc. 10 and storing it in the memory 107, similar control (reverse playback support control of the reverse playback support control unit 111) , or movement support control of the rear-lateral movement support control unit 115).

(effect)
According to the present embodiment, in addition to the same effects as the first embodiment, by determining the object type based on images, even if an object that may be moving is stationary, it can be determined as a moving object, and surrounding objects can be identified as moving objects. Since the detection (recognition) accuracy of is improved, comparisons can be made correctly when reversing.

Therefore, it is possible to provide a safe and convenient driving support device 200 in situations where reverse regeneration cannot be performed, such as when passing each other on a narrow road.

[Third embodiment]
Next, a third embodiment of the driving support device of the present invention will be described with reference to FIGS. 19 to 21. The third embodiment differs from the first and second embodiments in the reverse support control method. In the third embodiment, when performing simple reverse playback may give a sense of discomfort to the driver, the route is recalculated (regenerated) to realize natural driving with less sense of discomfort.

Note that although an example in which the reverse support control of this embodiment is applied to the first embodiment will be described in detail below, it is similarly applicable to the second embodiment.

(System configuration of driving support device)
FIG. 19 is a system configuration diagram of a driving support device 300 according to a third embodiment of the present invention.

The driving support device 300 is a computer that controls the vehicle 10, and acquires driving operation acquisition section 101, vehicle behavior acquisition section 102, front sensor information acquisition section 103, and rear sensor information by executing a program stored in a storage medium. Acquisition unit 104, obstacle discrimination unit 105, storage unit 306, surrounding situation collation unit 110, reverse reproduction backing support control unit 311, following vehicle detection unit 112, following vehicle following control unit 113, passing space determination unit 114, rear side It functions as a movement support control section 115.

That is, the driving support device 300 of the third embodiment includes the storage section 306 and the reverse regeneration backward support control section 311 in place of the storage section 106 and the reverse regeneration backward support control section 111 of the driving support device 100 of the first embodiment. Be prepared.

As shown in FIG. 20, if a pedestrian (moving object) is present when the vehicle 10 is moving forward and the pedestrian (moving object) is absent when the vehicle 10 is moving backward, if a simple reverse playback is performed, the pedestrian (moving object) is ), the driver of the vehicle 10 may feel uncomfortable. The driving support device 300 of the present embodiment recalculates (regenerates) the route for reversing in the above-mentioned case and realizes natural reversing with less discomfort.

(Storage unit 306)
When storing the driving operation (information) acquired from the driving operation acquisition unit 101, the storage unit 306 stores the passing position point (waypoint) of the origin (for example, the center of the rear wheel axle) of the vehicle (self-vehicle) 10 when moving forward. , is stored in the memory 307 as a driving operation (information) 309. Note that it is preferable that the passing position points (waypoints) are stored at a constant distance.

Furthermore, when storing the obstacles (information) obtained from the obstacle determining unit 105, the storage unit 306 stores not only stationary objects but also moving objects as obstacles (information) 308 in the memory 307. The obstacle discrimination unit 105 discriminates (detects) moving objects on the left and right sides of the own vehicle, and the storage unit 306 also stores these moving objects on the left and right sides of the own vehicle in the memory 307 as obstacles (information) 308 .

(Reverse playback support control unit 311)
The reverse playback support control unit 311 performs feedback control on the reverse playback operation so that the waypoint is passed during the reverse playback support control. By following the waypoints in reverse order, it is possible to drive backwards by following the same route. The reverse reproduction backward support control section 311 includes a moving object movement determination section 316 and a reroute generation driving support control section 317.

(Moving object movement determination unit 316)
The moving object movement determination section 316 determines that a moving object (among the obstacles) has moved from the verification result of the surrounding situation verification section 110. Note that if the moving object movement determination section 316 cannot determine that the moving object has moved, the reverse regeneration backward support control section 311 supports backward travel by normal reverse regeneration.

(Reroute generation driving support control unit 317)
When the moving object movement determination section 316 determines that the moving object has moved, the reroute generation driving support control section 317 generates a path for reversing the own vehicle and performs driving support control. At this time, the reroute generation driving support control unit 317 generates a route for reversing the own vehicle with the obstacles (information) 308 stored in the memory 307 by the storage unit 306 that are determined to have moved removed. By doing so, driving support control is implemented.

FIG. 21 shows a flowchart of the reroute generation driving support control unit 317 according to the third embodiment of the present invention. The flow shown in FIG. 21 is repeatedly executed (regularly) at a predetermined processing cycle.

As shown in FIG. 21, the reroute generation driving support control unit 317 selects the waypoint closest to the host vehicle 10 in S2101.

In S2102, a preset determination area is set based on the waypoint and superimposed on the sensor obstacle map. The determination area is a predetermined area defined based on the origin of the vehicle (for example, a rectangular area defined by the length in the longitudinal direction of the vehicle and the width in the lateral direction of the vehicle).

In S2103, it is determined whether there is a moving object extracted at the time of storage within the determination area. If a moving object exists within the determination area, the process advances to S2104, and if no moving object exists within the determination area, the process advances to S2105.

In S2104, a waypoint position one position away from the current waypoint is selected, and the processing in S2102 and the determination in S2103 are repeated.

In S2105, that is, if it is determined in S2103 that there is no moving object within the determination area, the obtained waypoint is set as the target waypoint.

In addition, in S2105, if it is determined that there is no moving object within the determination area set based on the waypoint closest to the own vehicle 10 initially set in S2101, the waypoint closest to the own vehicle 10 is determined. Set to target waypoint.

In S2106, a route from the current vehicle position to the target waypoint is generated.

In S2107, follow-up control to the route generated in S2106 (regenerated route) is performed by controlling the steering device, drive device, braking device, transmission device, etc.

In S2108, it is determined whether the target waypoint has been reached, and the processes in S2106 and S2107 are repeated until the target waypoint is reached.

That is, the reroute generation driving support control unit 317 first checks the presence or absence of moving objects around (within the determination area) based on the waypoint closest to the own vehicle 10 (S2101, S2102, S2103). If a moving object exists within the determination area, waypoints are searched in order of distance from the own vehicle 10 (S2104, S2102, S2103), and a waypoint where no moving object exists within the determination area is searched and set as the target position (target waypoint). Set (S2105). A route is generated toward the set waypoint and travel control (following control) is performed (S2106, S2107, S2108).

In other words, the re-route generation driving support control unit 317 uses the storage unit 306 to store data in the memory 307 around the waypoint position (within the determination area) among the waypoint positions (waypoints) stored when the own vehicle moved forward. The target is a waypoint that is the closest (shortest) to the own vehicle 10 and is a waypoint where there are no obstacles (moving objects) determined to have moved among the obstacles (information) 308 that have moved. It is set as a passing point position (target waypoint), and a route is generated from the position of the own vehicle 10 toward the set target passing point position (target waypoint) to perform driving support control.

As a result, the reroute generation driving support control unit 317 generates a route for reversing the own vehicle with the obstacles (information) 308 stored in the memory 307 by the storage unit 306 that are determined to have moved removed. to perform driving support control.

Note that after reaching the target waypoint, it is possible to support backward driving through normal reverse playback (follow-up control to the memorized route).

(effect)
According to this embodiment, in addition to the same effects as those of the first and second embodiments, it is possible to realize natural driving with less discomfort even when simple reverse playback may give the driver a sense of discomfort. be able to.

Therefore, it is possible to provide a safe and convenient driving support device 300 in situations where reverse regeneration cannot be performed, such as when passing each other on a narrow road.

[Fourth embodiment]
Next, a fourth embodiment of the driving support device of the present invention will be described with reference to FIGS. 22 to 24. The fourth embodiment differs from the first, second, and third embodiments in the following vehicle following control method. In the first, second, and third embodiments, following vehicle following control is performed based on the observation information of the rear sensor 14, but in the fourth embodiment, communication with other vehicles is confirmed and transmission/reception is performed through communication between other vehicles. Based on this information, following vehicle following control is carried out.

Note that although an example in which the following vehicle following control of this embodiment is applied to the first embodiment will be described in detail below, it is similarly applicable to the second and third embodiments.

(System configuration of driving support device)
FIG. 22 is a system configuration diagram of a driving support device 400 according to a fourth embodiment of the present invention.

The driving support device 400 is a computer that controls the vehicle 10, and acquires driving operation acquisition section 101, vehicle behavior acquisition section 102, front sensor information acquisition section 103, and rear sensor information by executing a program stored in a storage medium. Acquisition unit 104, obstacle discrimination unit 105, storage unit 106, surrounding situation collation unit 110, reverse reproduction backing support control unit 111, following vehicle detection unit 412, following vehicle following control unit 413, other vehicle communication confirmation unit 418, following vehicle It functions as an information receiving section 419, a passing space determining section 114, and a rear/lateral movement support control section 115.

That is, the driving support device 400 of the fourth embodiment includes the following vehicle detection section 412 and the following vehicle following control section in place of the following vehicle detection section 112 and the following vehicle following control section 113 of the driving support device 100 of the first embodiment. 413, and further includes an other vehicle communication confirmation section 418 and a following vehicle information reception section 419.

(Following vehicle detection unit 412)
As described in the first embodiment, the following vehicle detection unit 412 determines (detects) the presence of a following vehicle from the information from the surrounding situation matching unit 110. The following vehicle detection section 412 outputs the detection result to the following vehicle following control section 413 and the other vehicle communication confirmation section 418.

(Other vehicle communication confirmation unit 418)
The other vehicle communication confirmation unit 418 confirms whether or not the vehicle (own vehicle) 10 can communicate with other vehicles in the vicinity. When the following vehicle is detected by the following vehicle detecting section 412, the other vehicle communication confirmation section 418 confirms whether communication with the following vehicle detected by the following vehicle detecting section 412 is possible.

(Following vehicle information receiving unit 419)
The following vehicle information receiving unit 419 is a following control transmitting/receiving unit that communicates with other cars when communication with other cars around the vehicle (self-vehicle) 10 is possible, and transmits and receives information necessary for following control to other cars. It has the function of The following vehicle information receiving section 419 communicates with the following vehicle when the other vehicle communication confirmation section 418 indicates that communication with the following vehicle is possible, and transmits and receives information necessary for following the vehicle in reverse. The following vehicle information receiving unit 419 receives information such as vehicle speed, acceleration/deceleration, steering (yaw angle), vehicle parameters, etc. from another vehicle (following vehicle) as information necessary for following control of the other vehicle (following vehicle). do.

(Schematic configuration of other cars)
FIG. 23 is a diagram showing the communication connection relationship between the own vehicle and other vehicles. The other vehicle driving support device 500 includes a vehicle behavior acquisition unit 501, a vehicle behavior transmission unit 502, and another vehicle communication confirmation unit 503 in order to realize communication and information transmission/reception with the own vehicle driving support device 400.

(Vehicle behavior acquisition unit 501)
The vehicle behavior acquisition unit 501 acquires vehicle behavior (information) from various sensors mounted on the vehicle. The vehicle behavior acquisition unit 501 acquires behaviors (information) such as wheel speed (vehicle speed), acceleration/deceleration, steering (yaw angle), vehicle parameters, etc. of the vehicle, for example.

(Other vehicle communication confirmation unit 503)
The other vehicle communication confirmation unit 503 confirms whether or not the vehicle (here, the other vehicle) can communicate with other vehicles (here, the own vehicle) in the vicinity. The driving support device 400 of the own vehicle and the driving support device 500 of the other vehicle confirm whether or not they can communicate with each other through communication with the other vehicle communication confirmation unit 418 and the other vehicle communication confirmation unit 503.

(Vehicle behavior transmitter 502)
The vehicle behavior transmitter 502 communicates with other vehicles when the vehicle (here, other vehicles) can communicate with other vehicles (here, own vehicle) in the vicinity, and transmits information necessary for tracking control to other vehicles. It has a function as a follow-up control transmitting/receiving section that transmits and receives data. Vehicle behavior transmitting unit 502 communicates with the preceding vehicle (own vehicle 10) when communication with the preceding vehicle (own vehicle 10) is possible according to other vehicle communication confirmation unit 503, and communicates with the following vehicle (in this case, the other vehicle concerned). ) to send and receive information necessary for tracking and retreating. The vehicle behavior transmitting unit 502 transmits the information acquired by the vehicle behavior acquiring unit 501 to the following vehicle information receiving unit 419 of the driving support device 400 of the own vehicle as information necessary for following backward movement.

(Following vehicle following control unit 413)
The following vehicle following control unit 413 controls the steering device, drive device, braking device, transmission device, etc. to follow the following vehicle when the following vehicle is detected behind the own vehicle by the following vehicle detection unit 412. Performs following vehicle following control. When the following vehicle information receiving section 419 receives information necessary for following the following vehicle in a backward direction, the following vehicle following control section 413 implements following vehicle backward movement based on the received information.

FIG. 24 shows a flowchart of the following vehicle following control section 413 according to the fourth embodiment of the present invention. The flow shown in FIG. 24 is repeatedly executed (regularly) at a predetermined processing cycle.

As shown in FIG. 24, the following vehicle following control unit 413 determines in S2401 whether the following vehicle has been detected by the following vehicle detection unit 412, and if the following vehicle has been detected, the process proceeds to S2402.

In S2402, the following vehicle information receiving unit 419 determines whether there is information (vehicle information of the following vehicle) necessary for reversing to follow the following vehicle (whether or not it is being received). If there is vehicle information about the following vehicle, the process advances to S2403, and if there is no vehicle information about the following vehicle, the process advances to S2404.

In S2403, the following vehicle information receiving unit 419 acquires information necessary for following the following vehicle in reverse (vehicle information of the following vehicle), and the process proceeds to S2405.

In S2404, the vehicle information (speed, acceleration, lateral speed, etc.) of the following vehicle is calculated from the following vehicle detection information of the rear sensor 14 (that is, the sensor information acquired from the rear sensor information acquisition unit 104), and the process proceeds to S2405.

In S2405, the following vehicle detection information of the rear sensor 14 (that is, the sensor information acquired from the rear sensor information acquisition unit 104), the longitudinal distance (relative distance in the longitudinal direction or the traveling direction), the lateral position (lateral direction or perpendicular to the traveling direction), (relative position in the direction of

In S2406, follow-up control for the following vehicle is performed based on the information acquired in S2403 or S2404 and S2405.

(effect)
According to the present embodiment, in addition to the same effects as the first, second, and third embodiments, when the information necessary for following the following vehicle to the following vehicle can be received, the received information is Since it is possible to follow the following vehicle in reverse based on this information, driving control when reversing can be performed more accurately.

Therefore, it is possible to provide a safe and convenient driving support device 400 in situations where reverse regeneration cannot be performed, such as when passing each other on a narrow road.

[summary]
As explained above, the driving

support devices

100, 200, 300, and 400 of this embodiment are
a driving operation acquisition unit (101) that acquires the driving operation of the driver of the own vehicle;
A forward observation information acquisition unit (front sensor information acquisition unit 103, front camera recognition information) that acquires forward observation information (front sensor information) of a front observation unit (front sensor 13, front camera 23) that observes the surrounding situation in front of the own vehicle. acquisition unit 203);
a rear observation information acquisition unit (rear sensor information acquisition unit 104) that acquires rear observation information (rear sensor information) of a rear observation unit (rear sensor 14) that observes the surrounding situation behind the own vehicle;
When the vehicle is moving forward, the front observation information (front sensor information) of the front observation section and the rear observation information (rear sensor information) of the rear observation section are used to identify at least stationary objects among obstacles (around the vehicle). an obstacle discrimination unit (105, 205) for discriminating other objects;
a storage unit (106, 306) that stores (in a memory (107, 307)) at least a stationary object among the obstacles determined by the obstacle determination unit and the driving operation acquired by the driving operation acquisition unit;
a surrounding situation collation unit (110) that collates an obstacle behind the vehicle obtained by the rear observation unit and a stationary object stored (in memory) by the storage unit when the vehicle backs up on the forward path;
a reverse regeneration backward support control unit (111, 311) that supports backward driving by reproducing the driving operation stored in the storage unit (memory) in the memory when the own vehicle is moving forward; has
The reverse playback support control unit (111, 311) determines whether to implement reverse playback support according to the verification result obtained by the surrounding situation verification unit (110).

That is, the driving

support devices

100, 200, 300, and 400 of this embodiment store the driver's driving operation and surrounding obstacle information when moving forward. At this time, information from the front sensor 13 (or front camera 23) and rear sensor 14 is integrated to determine the object type (stationary object, moving object) and store it. After starting the backward support, the surrounding obstacles detected by the rear sensor 14 are compared with the stored surrounding obstacles, and based on the comparison result, it is determined whether to perform the backward support based on the stored driving operation.

As an example of the object type determination means, the object type is determined by comparing the detection positions of both the front sensor 13 and the rear sensor 14. For example, a wall is detected by both the front sensor 13 and the rear sensor 14, and can be determined as a stationary object. When a pedestrian moves, the detection positions differ between the front sensor 13 and the rear sensor 14, so that the pedestrian can be identified as a moving object. Since the following vehicle is not detected by the front sensor 13, it can be determined as a moving object (see the first embodiment, FIG. 25, etc.).

In addition, as another example of the object type discrimination means, the object type is discriminated based on information (pedestrian, bicycle, vehicle, etc.) recognized by the front camera 23. For example, pedestrians, bicycles, vehicles, etc. can be identified as moving objects by (images of) the front camera 23 (see the second embodiment, FIG. 26, etc.). In this case, even if a pedestrian, bicycle, vehicle, etc. is stationary, it can be determined as a moving object.

According to this embodiment, since moving objects such as stopped vehicles and pedestrians are stored separately, it is recognized that moving objects such as stopped vehicles and pedestrians that were present when moving forward are moved and lost when reversing. be able to. Similarly, if an area stored as an immovable obstacle (stationary object) cannot currently be detected, it can be recognized that the vehicle cannot be detected due to a sensor malfunction or the like when reversing.

Therefore, safe and convenient

driving support devices

100, 200, 300, and 400 can be provided in situations where reverse regeneration cannot be performed, such as when passing each other on a narrow road.

FIG. 27 shows an example of an application scene and an example of operation of the driving support device according to this embodiment.

In the known technology, scenes in which pedestrians and bicycles move, scenes in which there is a following vehicle (when the following vehicle disappears midway), scenes in which a vehicle stopped in parallel disappears after passing along the side, and scenes in a construction area or construction site. Reverse playback cannot be performed in scenes where a fence has been moved or where a bicycle or two-wheeled vehicle left on the roadside has disappeared. Furthermore, in scenes where there is a following bicycle or two-wheeled vehicle, reverse playback starts at the beginning of backing up.

In this embodiment, in a scene where a pedestrian or bicycle moves, if it is determined that the object is moving, the control is performed as is, and if it is determined that the sensor is not detected, the driver is alerted. Furthermore, in a scene where there is a following car, if there is no following car, reverse playback is performed, and if there is a following car, follow-up control for the following car is performed. Furthermore, in a scene where a vehicle stopped in parallel passes by and disappears, it is possible to perform evacuation control to an empty space (passing space). Furthermore, even in a scene where a construction area or fence at a construction site has been moved, evacuation control can be performed if there is an empty space (passing space). In addition, in a scene where a bicycle or two-wheeled vehicle left on the roadside disappears, control is performed as if the bicycle or two-wheeled vehicle were not there. In addition, in scenes where there is a bicycle or two-wheeled vehicle behind, reverse playback is stopped when reversing starts, alerting the driver, and manual switching is performed.

Therefore, according to the present embodiment, the number of control patterns that can be applied in each scene increases compared to the known technology, thereby improving convenience for the driver.

In addition, in the above-described embodiment, a case was exemplified in which backward traveling is supported (by reverse playback, etc.) when the own vehicle 10 reverses (travels backward) along the forward path, but the traveling form is limited to this. For example, when assisting driving when the vehicle 10 changes direction on the route that the vehicle 10 traveled (for example, forward) and travels again (for example, forward), the route that the vehicle 10 traveled (for example, forward) is supported. The present invention can be similarly applied to cases in which driving is supported when the vehicle 10 travels (for example, forward) again (on the same route), when driving is supported when the host vehicle 10 moves forward on a route that it has retreated to, and the like.

That is, the driving support device of this embodiment is
a driving operation acquisition unit (101) that acquires the driving operation of the driver of the own vehicle;
A first observation information acquisition unit (front sensor information acquisition unit 103, Front camera recognition information acquisition unit 203);
Obtain second observation information (sensor information) of a second observation unit (rear sensor 14) that observes a direction different from the first observation unit (front sensor 13, front camera 23) in the surrounding situation of the own vehicle. a second observation information acquisition unit (rear sensor information acquisition unit 104),
When the vehicle is running, the first observation information (sensor information) of the first observation section and the second observation information (sensor information) of the second observation section are used to detect obstacles (around the vehicle). At least an obstacle discrimination unit (105, 205) that discriminates between stationary objects and other objects;
a storage unit (106, 306) that stores (in a memory (107, 307)) at least a stationary object among the obstacles determined by the obstacle determination unit and the driving operation acquired by the driving operation acquisition unit;
When the own vehicle travels the route traveled again, the obstacles obtained from the first observation section or the second observation section are compared with the obstacles (stationary objects) stored (in the memory) by the storage section. a surrounding situation verification unit (110) that performs
When the own vehicle travels the same route again, the driving support control unit (reverse regeneration backward support control unit 111, 311 ) and,
The driving support control unit (reverse regeneration backing support control unit 111, 311) can be configured as a device that determines whether to implement driving support according to the verification result obtained by the surrounding situation verification unit (110). .

Further, the driving support device of the embodiment described above is applicable to a reversing support system for automobiles, an automatic reversing support system for self-driving cars, a reversing driving support system for forklifts, etc.

Note that the present invention is not limited to the embodiments described above, and includes various modifications. For example, the above-described embodiments have been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace some of the configurations of each embodiment with other configurations.

Further, each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized in hardware by, for example, designing an integrated circuit. Further, each of the above configurations, functions, etc. may be realized by software by having a processor interpret and execute a program for realizing each function. Information such as programs, tables, files, etc. that implement each function can be stored in a memory, a recording device such as a hard disk, an SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

In addition, the control lines and information lines shown are those considered necessary for explanation, and do not necessarily show all control lines and information lines necessary for implementation. In reality, almost all configurations can be considered interconnected.

10 Vehicle (own vehicle)
11 Following vehicle 13 Front sensor (front observation section, first observation section)
14 Rear sensor (rear observation section, second observation section)
23 Front camera (front observation section, first observation section)
100 Driving support device (first embodiment)
101 Driving operation acquisition unit 102 Vehicle behavior acquisition unit 103 Front sensor information acquisition unit (forward observation information acquisition unit, first observation information acquisition unit)
104 Rear sensor information acquisition unit (rear observation information acquisition unit, second observation information acquisition unit)
105 Obstacle discrimination unit 106 Storage unit 107 Memory 108 Obstacle 109 Driving operation 110 Surrounding situation collation unit 111 Reverse playback support control unit (driving support control unit)
112 Following vehicle detection unit 113 Following vehicle following control unit 114 Passing space determination unit 115 Rear lateral movement support control unit 200 Driving support device (second embodiment)
203 Front camera recognition information acquisition unit (forward observation information acquisition unit, first observation information acquisition unit)
205 Obstacle discrimination unit 300 Driving support device (third embodiment)
306 Storage unit 307 Memory 308 Obstacle 309 Driving operation 311 Reverse playback support control unit (driving support control unit)
316 Moving object movement determination unit 317 Reroute generation driving support control unit 400 Driving support device (4th embodiment)
412 Following vehicle detection section 413 Following vehicle following control section 418 Other vehicle communication confirmation section 419 Following vehicle information receiving section (following control transmitting/receiving section)
500 Driving support device (other vehicle: following vehicle)
501 Vehicle behavior acquisition unit 502 Vehicle behavior transmission unit (following control transmission and reception unit)
503 Other vehicle communication confirmation section

Claims

a driving operation acquisition unit that acquires the driving operation of the driver of the own vehicle;
a first observation information acquisition unit that acquires first observation information of a first observation unit that observes the surrounding situation of the own vehicle;
a second observation information acquisition unit that acquires second observation information of a second observation unit that observes a direction different from the first observation unit in the surrounding situation of the own vehicle;
an obstacle discrimination unit that discriminates between at least stationary objects and others among obstacles using first observation information of the first observation unit and second observation information of the second observation unit when the vehicle is traveling; ,
a storage unit that stores at least stationary objects among the obstacles determined by the obstacle determination unit and the driving operation acquired by the driving operation acquisition unit;
a surrounding situation collation unit that collates obstacles obtained from the first observation unit or the second observation unit and obstacles stored by the storage unit when the own vehicle travels the route traveled again;
a driving support control unit that supports driving based on the driving operation stored in the storage unit when the own vehicle is traveling when the own vehicle is traveling again on the route that the own vehicle has traveled;
The driving support device is characterized in that the driving support control unit determines whether or not driving support is to be implemented in accordance with the verification result obtained by the surrounding situation verification unit.
a driving operation acquisition unit that acquires the driving operation of the driver of the own vehicle;
a forward observation information acquisition unit that acquires forward observation information of a front observation unit that observes the surrounding situation in front of the vehicle;
a rear observation information acquisition unit that acquires rear observation information of a rear observation unit that observes the surrounding situation behind the own vehicle;
an obstacle discrimination unit that discriminates between at least stationary objects and others among obstacles using forward observation information from the front observation unit and rear observation information from the rear observation unit when the own vehicle moves forward;
a storage unit that stores at least stationary objects among the obstacles determined by the obstacle determination unit and the driving operation acquired by the driving operation acquisition unit;
a surrounding situation comparison unit that compares an obstacle behind the vehicle obtained by the rear observation unit with a stationary object stored in the storage unit when the vehicle is reversing along the forward path;
a reverse regeneration backing support control unit that supports backward travel by reproducing the driving operation stored in the storage unit when the own vehicle was moving forward, when the own vehicle is backing up on the route that the own vehicle has moved forward;
The driving support device is characterized in that the reverse regeneration backing support control unit determines whether to implement reverse regeneration backing support in accordance with the verification result obtained by the surrounding situation verification unit.
The driving support device according to claim 2,
The front observation section and the rear observation section are configured using sensors with the same characteristics,
The obstacle discrimination unit discriminates the same obstacle detected by both the front observation unit and the rear observation unit as a stationary object,
In comparing the stationary object stored by the storage unit with the current obstacle behind the vehicle obtained from the rear observation unit, the surrounding situation comparison unit determines whether the stationary object stored by the storage unit does not exist. , determining as a moving object an object present in the current obstacle behind the vehicle obtained from the rear observation unit;
The driving support device is characterized in that the reverse regeneration backing support control unit does not perform reverse regeneration backing support when the moving object is included in the verification.
The driving support device according to claim 3,
The surrounding situation matching unit exists in the stationary object stored by the storage unit in comparing the stationary object stored by the storage unit and the current obstacle behind the own vehicle obtained from the rear observation unit, It is determined that an object that does not exist among the obstacles currently behind the vehicle obtained from the rear observation section is likely to be a sensor malfunction,
The driving support device is characterized in that the reverse regeneration reverse support control unit does not perform reverse regeneration reverse support and alerts the driver if it is determined during verification that there is a high possibility that the sensor is malfunctioning.
The driving support device according to claim 3,
a following vehicle detection unit that detects a following vehicle from the information of the surrounding situation verification unit;
A driving support device comprising: a following vehicle following control section that follows a following vehicle when the following vehicle is detected by the following vehicle detection section.
The driving support device according to claim 3,
a passing space determination unit that detects a passing space on the rear side of the own vehicle in which the own vehicle can pass each other as a result of the verification by the surrounding situation verification unit;
A driving support device comprising: a rear side movement support control unit that moves to a passing space on the rear side of the host vehicle detected by the passing space determining unit to support passing each other.
The driving support device according to claim 2,
The forward observation unit includes a sensor capable of determining the type of object based on an image,
The obstacle discrimination unit discriminates a stationary object from the detection result of the rear observation unit based on the type information of the object discriminated by the front observation unit,
In comparing the stationary object stored by the storage unit with the current obstacle behind the vehicle obtained from the rear observation unit, the surrounding situation comparison unit determines whether the stationary object stored by the storage unit does not exist. , determining as a moving object an object present in the current obstacle behind the vehicle obtained from the rear observation unit;
The driving support device is characterized in that the reverse regeneration backing support control unit does not perform reverse regeneration backing support when the moving object is included in the verification.
The driving support device according to claim 7,
The surrounding situation matching unit exists in the stationary object stored by the storage unit in comparing the stationary object stored by the storage unit and the current obstacle behind the own vehicle obtained from the rear observation unit, It is determined that an object that does not exist among the obstacles currently behind the vehicle obtained from the rear observation section is likely to be a sensor malfunction,
The driving support device is characterized in that the reverse regeneration reverse support control unit does not perform reverse regeneration reverse support and alerts the driver if it is determined during verification that there is a high possibility that the sensor is malfunctioning.
The driving support device according to claim 7,
The obstacle determination unit detects parked vehicles or construction areas on the left and right,
The storage unit stores left and right stopped vehicles or construction areas detected by the obstacle discrimination unit,
a passing space determination unit that detects a passing space on the rear side of the own vehicle in which the own vehicle can pass each other as a result of the verification by the surrounding situation verification unit;
A driving support device comprising: a rear side movement support control unit that moves to a passing space on the rear side of the host vehicle detected by the passing space determining unit to support passing each other.
The driving support device according to claim 3,
a moving object movement determination unit that determines that the moving object has moved based on the verification result of the surrounding situation verification unit;
When the moving object movement determining section determines that the moving object has moved, generating a route for the own vehicle and driving with the obstacle determined to have moved among the obstacle information stored in the storage section being removed. A driving support device comprising: a reroute generation driving support control section that performs support control.
The driving support device according to claim 7,
The obstacle discrimination unit detects left and right moving objects,
The storage unit stores left and right moving objects detected by the obstacle determination unit,
a moving object movement determination unit that determines that the moving object has moved based on the verification result of the surrounding situation verification unit;
When the moving object movement determining section determines that the moving object has moved, generating a route for the own vehicle and driving with the obstacle determined to have moved among the obstacle information stored in the storage section being removed. A driving support device comprising: a reroute generation driving support control section that performs support control.
The driving support device according to claim 5,
Another vehicle communication confirmation unit that confirms whether or not communication with other vehicles is possible;
A tracking control transmitting and receiving unit that communicates with the other vehicle when communication with the other vehicle is possible and transmits and receives information necessary for tracking control to the other vehicle,
When the following vehicle is detected by the following vehicle detection section,
The other vehicle communication confirmation unit confirms whether or not communication with the following vehicle is possible;
If communication with the following vehicle is possible,
The following control transmitting/receiving unit transmits and receives information necessary for following the vehicle in reverse,
The driving support device is characterized in that the following vehicle following control unit performs following vehicle following control based on the information.
The driving support device according to claim 5,
The following vehicle detection unit, in comparing the stationary object stored in the storage unit with the current obstacle behind the own vehicle obtained from the rear observation unit, detects that the stationary object stored in the storage unit does not exist. . A driving support system, characterized in that, among the objects present in the current obstacles behind the own vehicle obtained by the rear observation unit, an object having a width greater than or equal to a predetermined width behind the own vehicle is determined as a following vehicle.
The driving support device according to claim 6,
The passing space determining unit is configured to be present in the stationary object stored by the storage unit in comparing the stationary object stored by the storage unit with the current obstacle behind the vehicle obtained by the rear observation unit; Driving support characterized by determining, as a passing space, a space in which an object of a predetermined depth or more exists behind the own vehicle, among objects that do not exist among the obstacles currently behind the own vehicle obtained by the rear observation unit. Device.
The driving support device according to claim 10,
The re-route generation driving support control unit is configured to select a path where there is no obstacle determined to have moved among the obstacle information stored by the storage unit around the passing point position among the passing point positions stored when the own vehicle moved forward. The method is characterized in that the closest passing point position from the own vehicle is set as a target passing point position, and a route is generated from the position of the own vehicle toward the set target passing point position to perform driving support control. A driving support device.